Hello, I am a student who is trying to apply Slam in the ROS1 Noetic Gazebo environment. The selected package is hdl_graph_slam.

The following problems occur when running the hdl_graph_slam launch file after running the gazebo launch file with the mobile robot and the virtual environment.

kimjaen@kimjaen:~/vuasrl_ws$ roslaunch hdl_graph_slam hdl_graph_slam_custom.launch

... logging to /home/kimjaen/.ros/log/311f2498-23d0-11ee-a1a2-8b62b0422290/roslaunch-kimjaen-126774.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:46287/

SUMMARY

PARAMETERS * /hdl_graph_slam_nodelet/accum_distance_thresh: 35.0 * /hdl_graph_slam_nodelet/const_stddev_q: 0.1 * /hdl_graph_slam_nodelet/const_stddev_x: 0.5 * /hdl_graph_slam_nodelet/distance_thresh: 20.0 * /hdl_graph_slam_nodelet/enable_gps: False * /hdl_graph_slam_nodelet/enable_imu_acceleration: False * /hdl_graph_slam_nodelet/enable_imu_orientation: False * /hdl_graph_slam_nodelet/fitness_score_thresh: 0.5 * /hdl_graph_slam_nodelet/fix_first_node: True * /hdl_graph_slam_nodelet/fix_first_node_adaptive: True * /hdl_graph_slam_nodelet/fix_first_node_stddev: 10 10 10 1 1 1 * /hdl_graph_slam_nodelet/floor_edge_robust_kernel: NONE * /hdl_graph_slam_nodelet/floor_edge_stddev: 10.0 * /hdl_graph_slam_nodelet/g2o_solver_num_iterations: 512 * /hdl_graph_slam_nodelet/g2o_solver_type: lm_var_cholmod * /hdl_graph_slam_nodelet/gps_edge_robust_kernel: NONE * /hdl_graph_slam_nodelet/gps_edge_robust_kernel_size: 1.0 * /hdl_graph_slam_nodelet/gps_edge_stddev_xy: 20.0 * /hdl_graph_slam_nodelet/gps_edge_stddev_z: 5.0 * /hdl_graph_slam_nodelet/graph_update_interval: 3.0 * /hdl_graph_slam_nodelet/imu_acceleration_edge_robust_kernel: NONE * /hdl_graph_slam_nodelet/imu_acceleration_edge_stddev: 1.0 * /hdl_graph_slam_nodelet/imu_orientation_edge_robust_kernel: NONE * /hdl_graph_slam_nodelet/imu_orientation_edge_stddev: 1.0 * /hdl_graph_slam_nodelet/keyframe_delta_angle: 2.0 * /hdl_graph_slam_nodelet/keyframe_delta_trans: 2.0 * /hdl_graph_slam_nodelet/loop_closure_edge_robust_kernel: Huber * /hdl_graph_slam_nodelet/loop_closure_edge_robust_kernel_size: 1.0 * /hdl_graph_slam_nodelet/map_cloud_resolution: 0.05 * /hdl_graph_slam_nodelet/map_cloud_update_interval: 10.0 * /hdl_graph_slam_nodelet/map_frame_id: map * /hdl_graph_slam_nodelet/max_keyframes_per_update: 10 * /hdl_graph_slam_nodelet/max_stddev_q: 0.2 * /hdl_graph_slam_nodelet/max_stddev_x: 5.0 * /hdl_graph_slam_nodelet/min_edge_interval: 5.0 * /hdl_graph_slam_nodelet/min_stddev_q: 0.05 * /hdl_graph_slam_nodelet/min_stddev_x: 0.1 * /hdl_graph_slam_nodelet/odom_frame_id: odom * /hdl_graph_slam_nodelet/odometry_edge_robust_kernel: NONE * /hdl_graph_slam_nodelet/odometry_edge_robust_kernel_size: 1.0 * /hdl_graph_slam_nodelet/points_topic: /os_cloud_node/po... * /hdl_graph_slam_nodelet/published_odom_topic: hdl/odom * /hdl_graph_slam_nodelet/reg_correspondence_randomness: 20 * /hdl_graph_slam_nodelet/reg_max_correspondence_distance: 2.5 * /hdl_graph_slam_nodelet/reg_max_optimizer_iterations: 20 * /hdl_graph_slam_nodelet/reg_maximum_iterations: 64 * /hdl_graph_slam_nodelet/reg_nn_search_method: DIRECT7 * /hdl_graph_slam_nodelet/reg_num_threads: 4 * /hdl_graph_slam_nodelet/reg_resolution: 1.0 * /hdl_graph_slam_nodelet/reg_transformation_epsilon: 0.01 * /hdl_graph_slam_nodelet/reg_use_reciprocal_correspondences: False * /hdl_graph_slam_nodelet/registration_method: FAST_GICP * /hdl_graph_slam_nodelet/use_const_inf_matrix: False * /hdl_graph_slam_nodelet/var_gain_a: 20.0 * /map2odom_publisher/map_frame_id: map * /map2odom_publisher/odom_frame_id: odom * /prefiltering_nodelet/base_link_frame: base_link * /prefiltering_nodelet/distance_far_thresh: 1000.0 * /prefiltering_nodelet/distance_near_thresh: 0.1 * /prefiltering_nodelet/downsample_method: VOXELGRID * /prefiltering_nodelet/downsample_resolution: 0.1 * /prefiltering_nodelet/outlier_removal_method: NONE * /prefiltering_nodelet/radius_min_neighbors: 2 * /prefiltering_nodelet/radius_radius: 0.5 * /prefiltering_nodelet/statistical_mean_k: 30 * /prefiltering_nodelet/statistical_stddev: 1.2 * /prefiltering_nodelet/use_distance_filter: False * /rosdistro: noetic * /rosversion: 1.16.0 * /scan_matching_odometry_nodelet/downsample_method: NONE * /scan_matching_odometry_nodelet/downsample_resolution: 0.1 * /scan_matching_odometry_nodelet/enable_robot_odometry_init_guess: False * /scan_matching_odometry_nodelet/keyframe_delta_angle: 1.0 * /scan_matching_odometry_nodelet/keyframe_delta_time: 10000.0 * /scan_matching_odometry_nodelet/keyframe_delta_trans: 1.0 * /scan_matching_odometry_nodelet/max_acceptable_angle: 1.0 * /scan_matching_odometry_nodelet/max_acceptable_trans: 1.0 * /scan_matching_odometry_nodelet/odom_frame_id: odom * /scan_matching_odometry_nodelet/points_topic: /os_cloud_node/po... * /scan_matching_odometry_nodelet/published_odom_topic: hdl/odom * /scan_matching_odometry_nodelet/reg_correspondence_randomness: 20 * /scan_matching_odometry_nodelet/reg_max_correspondence_distance: 2.5 * /scan_matching_odometry_nodelet/reg_max_optimizer_iterations: 20 * /scan_matching_odometry_nodelet/reg_maximum_iterations: 64 * /scan_matching_odometry_nodelet/reg_nn_search_method: DIRECT7 * /scan_matching_odometry_nodelet/reg_num_threads: 0 * /scan_matching_odometry_nodelet/reg_resolution: 1.0 * /scan_matching_odometry_nodelet/reg_transformation_epsilon: 0.01 * /scan_matching_odometry_nodelet/reg_use_reciprocal_correspondences: False * /scan_matching_odometry_nodelet/registration_method: NDT_OMP * /scan_matching_odometry_nodelet/robot_odom_frame_id: robot_odom * /scan_matching_odometry_nodelet/transform_thresholding: False

NODES / hdl_graph_slam_nodelet (nodelet/nodelet) lidar2base_publisher (tf/static_transform_publisher) map2odom_publisher (hdl_graph_slam/map2odom_publisher.py) prefiltering_nodelet (nodelet/nodelet) scan_matching_odometry_nodelet (nodelet/nodelet) velodyne_nodelet_manager (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[lidar2base_publisher-1]: started with pid [126798] process[velodyne_nodelet_manager-2]: started with pid [126799] process[prefiltering_nodelet-3]: started with pid [126800] process[scan_matching_odometry_nodelet-4]: started with pid [126802] process[hdl_graph_slam_nodelet-5]: started with pid [126807] process[map2odom_publisher-6]: started with pid [126808] construct solver: lm_var_cholmod

Using CHOLMOD poseDim -1 landMarkDim -1 blockordering 1

done registration: FAST_GICP downsample: NONE registration: NDT_OMP DIRECT7 1 ... (more)